Anomaly detection based on device  vibration

ABSTRACT

A method of detecting deviation from an operational state of a rotational device includes receiving, from one or more sensor devices coupled to the rotational device, frequency domain data indicative of vibration data sensed during a sensing period. The method also includes processing the frequency domain data using a trained anomaly detection model to generate an anomaly score for the sensing period and processing the anomaly score using an alert generation model to determine whether to generate an alert.

FIELD

The present disclosure is generally related to using trained models todetect and report anomalous behavior of a device based on devicevibration.

BACKGROUND

Rotational equipment is commonly monitored via analysis of highfrequency vibrational data of the rotational equipment. Conventionally,monitoring the condition of such equipment relies on rules derived fromphysics-based models. For low-cost equipment that is deployed in largenumbers, such as rotational pumps at a water treatment plant or at apetroleum refinery, the operators of the equipment are primarilyinterested in detection of abnormal versus normal operating states(hereafter referred as binary anomaly detection model). Low-cost assetsare often monitored with a single sensor or with small number ofsensors. These sensors can be integrated into sensor packages thattransform raw time series sensing data into a set of features in thefrequency domain.

Deep learning anomaly prediction models are conventionally applied fordetecting states of multi-sensor, low-frequency systems and aregenerally based on reconstruction error, performed in the time domain,of the multi-variate time series. Such models are asset-specific, andtheir training requires subject matter expertise for the choice ofvariables, for the calibration of the models, or both. With respect tothe calibration of the models, the choice of the thresholds forabnormality versus normality and how to react when these thresholds areexceeded is the topic of complex heuristics and non-trivial trade-offs.The complexity and expertise required to implement asset-specific, deeplearning anomaly prediction models renders such approaches unsuitablefor monitoring states of low-cost assets that are deployed in largenumbers.

SUMMARY

The present disclosure describes systems and methods that enable use oftrained models to automatically detect anomalous behavior of devicesbelonging to the rotational equipment category. Such devices are alsoreferred to herein as “assets.” In some implementations, the models canbe automatically generated and trained for each particular asset basedon historic non-anomalous data for that particular asset. The systemsand method described herein process data corresponding to vibration of aparticular asset over a series of time windows to determine a series ofanomaly scores for the time windows and selectively generate an alertbased on statistics associated with the anomaly scores, in accordancewith some examples of the present disclosure.

In some aspects, a method of detecting deviation from an operationalstate of a rotational device starts with receiving raw data from one ormore sensor devices coupled to the rotational device, indicative ofvibrations on the rotational device. Next, the processed data is derivedfrom frequency analysis (hereafter referred to as frequency domain data)of the raw data. The method extends to processing the frequency domaindata using a trained anomaly detection model to generate an anomalyscore for the sensing period. The method's final step is processing theanomaly score using an alert generation model to determine whether togenerate an alert. In some examples, a method is performed at one ormore processors that generate the anomaly score and determine whether togenerate the alert based on the frequency domain data received from asensor package that is coupled to the rotational device.

In some aspects, a system to detect deviation from an operational stateof a vibrating device includes a memory including a trained anomalydetection model and an alert generation model. The system also includesone or more processors coupled to the memory. The one or more processorsare configured to process, using the trained anomaly detection model,frequency domain data indicative of vibration data sensed during asensing period. The trained anomaly detection model is configured togenerate an anomaly score for the sensing period. The one or moreprocessors are also configured to process the anomaly score using analert generation model to determine whether to generate an alert.

In some aspect, a computer-readable storage device stores instructions.The instructions, when executed by one or more processors, cause the oneor more processors to receive, from one or more sensor devices coupledto a rotational device, frequency domain data indicative of vibrationdata sensed during a sensing period. The instructions, when executed byone or more processors, also cause the one or more processors to processthe frequency domain data using a trained anomaly detection model togenerate an anomaly score for the sensing period. The instructions, whenexecuted by one or more processors, further cause the one or moreprocessors to process the anomaly score using an alert generation modelto determine whether to generate an alert.

In some aspects, an apparatus for detecting deviation from anoperational state of a rotational device includes means for receiving,from one or more sensor devices coupled to the rotational device,frequency domain data indicative of vibration data sensed during asensing period. The apparatus also includes means for generating ananomaly score for the sensing period based on the frequency domain dataand means for determining, based on the anomaly score, whether togenerate an alert.

In some aspects, a self-training sensor apparatus includes a sensor togenerate sensor data associated with operation of a device and an inputinterface to receive input to select between a training mode ofoperation and a detection mode of operation. The apparatus also includesa memory including model generation instructions and one or moreprocessors coupled to the memory. The one or more processors areconfigured to, while operating in the training mode of operation,receive first sensor data from the sensor and execute the modelgeneration instructions based on the first sensor data to generate atrained anomaly detection model and an alert detection model. The one ormore processors are also configured to while operating in the detectionmode of operation, receive second sensor data from the sensor, use thetrained anomaly detection model to generate an anomaly score, andprocess the anomaly score using the alert detection model to determinewhether to generate an alert. The apparatus further includes an outputinterface to output an alert indication responsive to the one or moreprocessors generating the alert.

In some aspects, a method of operating a self-training sensor apparatusincludes receiving, at an input interface of the self-training sensorapparatus, a first input to select a training mode of operation. Themethod includes, in response to receiving the first input, receiving,from a sensor of the self-training sensor apparatus, first sensor dataassociated with operation of a device, and executing, at one or moreprocessors of the self-training sensor apparatus, model generationinstructions based on the first sensor data to generate a trainedanomaly detection model and an alert detection model.

In some aspects, a computer-readable storage device stores instructionsthat, when executed by one or more processors, cause the one or moreprocessors to receive, at an input interface of a self-training sensorapparatus, a first input to select a training mode of operation and, inresponse to receiving the first input, to receive, from a sensor of theself-training sensor apparatus, first sensor data associated withoperation of a device, and to execute model generation instructionsbased on the first sensor data to generate a trained anomaly detectionmodel and an alert detection model.

In some aspects, an apparatus includes means for generating sensor dataassociated with operation of a device. The apparatus includes means forreceiving input to select between a training mode of operation and adetection mode of operation and means for storing model generationinstructions. The apparatus also includes means for receiving firstsensor data from the means for generating sensor data and generating atrained anomaly detection model and an alert detection model based onthe first sensor data while operating in the training mode of operation.The apparatus also includes means for receiving second sensor data fromthe means for generating sensor data, using the trained anomalydetection model to generate an anomaly score, and processing the anomalyscore using the alert detection model to determine whether to generatean alert while operating in the detection mode of operation. Theapparatus further includes means for outputting an alert indicationresponsive to the one or more processors generating the alert.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a block diagram of a particular implementation of asystem that includes a trained anomaly detection model and an alertgeneration model for detecting anomalous operation of a high frequencyrotational device in accordance with some examples of the presentdisclosure.

FIG. 2 is a block diagram of components that may be included in thesystem of FIG. 1 in accordance with some examples of the presentdisclosure.

FIG. 3 is a block diagram of initialization stages that may be used forthe system of FIG. 1 in accordance with some examples of the presentdisclosure.

FIG. 4 is a block diagram of another particular implementation of asystem that includes a trained anomaly detection model and an alertgeneration model for detecting anomalous operation of a rotationaldevice in accordance with some examples of the present disclosure.

FIG. 5 is a depiction of a graphical user interface that may begenerated by the system of FIG. 1 in accordance with some examples ofthe present disclosure.

FIG. 6 is a flow chart of a method of detecting anomalous operation of arotational device in accordance with some examples of the presentdisclosure.

FIG. 7 is a flow chart of a method of automatically generating a modelfor detecting anomalous operation of a rotational device in accordancewith some examples of the present disclosure.

FIG. 8 is a flow chart of a method of operating a self-training sensorapparatus device in accordance with some examples of the presentdisclosure.

DETAILED DESCRIPTION

Systems and methods are described that enable an automatic generation ofasset-agnostic binary anomaly detection models for rotational equipmentor other vibrational sources. In some implementations, one such modeluses data from one or more identical sensor packages which can beinstalled on a large number of similar or non-similar assets, such asrotational pumps that are deployed in relatively large numbers.

According to some aspects, a deep learning model for anomaly detectioncan be easily integrated with high frequency sensor packages deployedfor large number of assets. The model may have an architecture that isasset agnostic and that is trained as an asset-specific model using datafrom a sensor package of the asset. In some implementations, thetraining process is automatic (i.e., without human intervention otherthan to initiate the training process). In some aspects, automaticmechanisms are used for determining criteria for generating alarms,based on the severity, persistence, and tolerance for false positivesand false negatives for such alarms.

In illustrative implementation, a system includes a pre-processingmodule for data cleaning, a model generation model, and apost-processing module. The model generation module, such as anautoencoder, operates with sensor data represented in frequency domain.In some examples, normal behavior is characterized by the power of thesignal detected by a sensor package being spread between frequency binsin the frequency domain with specific correlations, while abnormalbehavior is associated with increasing vibration levels and differentsignal power distributions between the frequency bins.

According to some aspects, a Hotelling T² evaluation is performed overmultivariate residuals determined by the autoencoder to generate ananomaly score. For a given model parameterization and quality, and apartfrom the abnormal vs. normal differentiation, the magnitude of theanomaly score is also specific to every asset. For every asset, thestatistics of the anomaly score variation over normal behavior isindividually learned.

According to some aspects, a sequential probability ratio test (SPRT)provides, for each generated anomaly score, validations or refutationsfrom the hypothesis that the asset behaves abnormally. To illustrate,the SPRT may determine whether or not the Hotelling T² score follows adifferent statistics than that of the normal behavior statistics forthat particular asset. The SPRT provides an early detection mechanismand supports confidence margins specifications.

According to some aspects, a post-processing module provides a measureof each feature contribution to the Hotelling T² score. This subset canbe inspected by a subject matter expert (SME) for further analysis andpossible remedial actions regarding the asset.

Thus, the described systems and methods address a significant challengein deploying machine learning-based models at scale (e.g., individualmodels for a large number of assets). Techniques described herein, suchas using models that are specific to a particular sensor pack and thatprimarily differentiate between normal and abnormal operation, enable aunique anomaly detection model to be created for an asset using aspecific, common sensor pack without any human intervention. As aresult, the described systems and methods can provide cost-beneficialmachine-learning models for relatively large numbers of lower-costassets that are not identical, such as pumps at an industrial plant.

Particular aspects of the present disclosure are described below withreference to the drawings. In the description, common features aredesignated by common reference numbers throughout the drawings. As usedherein, various terminology is used for the purpose of describingparticular implementations only and is not intended to be limiting. Forexample, the singular forms “a,” “an,” and “the” are intended to includethe plural forms as well, unless the context clearly indicatesotherwise. It may be further understood that the terms “comprise,”“comprises,” and “comprising” may be used interchangeably with“include,” “includes,” or “including.” Additionally, it will beunderstood that the term “wherein” may be used interchangeably with“where.” As used herein, “exemplary” may indicate an example, animplementation, and/or an aspect, and should not be construed aslimiting or as indicating a preference or a preferred implementation. Asused herein, an ordinal term (e.g., “first,” “second,” “third,” etc.)used to modify an element, such as a structure, a component, anoperation, etc., does not by itself indicate any priority or order ofthe element with respect to another element, but rather merelydistinguishes the element from another element having a same name (butfor use of the ordinal term). As used herein, the term “set” refers to agrouping of one or more elements, and the term “plurality” refers tomultiple elements.

In the present disclosure, terms such as “determining,” “calculating,”“estimating,” “shifting,” “adjusting,” etc. may be used to describe howone or more operations are performed. It should be noted that such termsare not to be construed as limiting and other techniques may be utilizedto perform similar operations. Additionally, as referred to herein,“generating,” “calculating,” “estimating,” “using,” “selecting,”“accessing,” and “determining” may be used interchangeably. For example,“generating,” “calculating,” “estimating,” or “determining” a parameter(or a signal) may refer to actively generating, estimating, calculating,or determining the parameter (or the signal) or may refer to using,selecting, or accessing the parameter (or signal) that is alreadygenerated, such as by another component or device.

As used herein, “coupled” may include “communicatively coupled,”“electrically coupled,” or “physically coupled,” and may also (oralternatively) include any combinations thereof. Two devices (orcomponents) may be coupled (e.g., communicatively coupled, electricallycoupled, or physically coupled) directly or indirectly via one or moreother devices, components, wires, buses, networks (e.g., a wirednetwork, a wireless network, or a combination thereof), etc. Two devices(or components) that are electrically coupled may be included in thesame device or in different devices and may be connected viaelectronics, one or more connectors, or inductive coupling, asillustrative, non-limiting examples. In some implementations, twodevices (or components) that are communicatively coupled, such as inelectrical communication, may send and receive electrical signals(digital signals or analog signals) directly or indirectly, such as viaone or more wires, buses, networks, etc. As used herein, “directlycoupled” may include two devices that are coupled (e.g., communicativelycoupled, electrically coupled, or physically coupled) withoutintervening components.

FIG. 1 depicts a system 100 to detect abnormal operation of a vibratingdevice. The system 100 includes one or more sensor devices 118 coupledto a high frequency rotational device 104, such as a pump 106. As usedherein, a “rotational device” or a “rotary device” refers to a devicethat includes a component that rotates or spins during operation, suchas an impeller, propeller, or flywheel; examples of rotational devicesand rotary devices include, but are not limited to, pumps, compressors,turbines, generator, blowers, fans, electric motors, and gearboxes. Analert detection device 110 is coupled to the one or more sensor devices118 and to a display device 128. The alert detection device 110 includesa receiver 122 and a memory 112 that are coupled to one or moreprocessors 120. In various implementations, the alert detection device110 is configured to determine, using a trained anomaly detection model140 that is specific to the rotational device 104, whether therotational device 104 is operating normally or abnormally and toselectively provide an alert indication 148 to an operator 132 (e.g., atechnician or SME), as described further below.

In some implementations, the memory 112 includes volatile memorydevices, non-volatile memory devices, or both, such as one or more harddrives, solid-state storage devices (e.g., flash memory, magneticmemory, or phase change memory), a random access memory (RAM), aread-only memory (ROM), one or more other types of storage devices, orany combination thereof. The memory 112 stores data and instructions(e.g., computer code) that are executable by the one or more processors120. For example, the instructions can include one or more trainedmodels (e.g., trained machine learning models) that are executable bythe one or more processors 120 to initiate, perform, or control variousoperations of the alert detection device 110. For example, the one ormore trained models can include autoencoders, such as described furtherwith reference to FIG. 2. As illustrated, the memory 112 includes thetrained anomaly detection model 140, an alert generation model 144, acalibration module 150, and a graphical user interface (GUI) module 152.

The one or more processors 120 include one or more single-core ormulti-core processing units, one or more digital signal processors(DSPs), one or more graphics processing units (GPUs), or any combinationthereof. The one or more processors 120 are configured to receive, viathe receiver 122, data in the frequency domain 124 (also referred to as“frequency domain data” 124) corresponding to the rotational device 104and indicative of vibration data 164 sensed during a sensing period. Theone or more processors 120 are configured to process the frequencydomain data 124 using the trained anomaly detection model 140, and thetrained anomaly detection model 140 is configured to generate an anomalyscore 142 for each sensing period. The one or more processors 120 arealso configured to process the anomaly score 142 using the alertgeneration model 144 to determine whether to generate an alert 146. Anexample implementation of the anomaly detection model 140 and the alertgeneration model 144 is described in further detail with reference toFIG. 2.

The GUI module 152 is executable by the one or more processors 152 togenerate a graphical user interface 130 to display an alert indication148. For example, the GUI module 152 may be executed by the one or moreprocessors 152 to display the GUI 130 at the display device 128 toprovide the operator 132 with the alert indication 148. The GUI 130 mayprovide additional information related to the alert 146, such asdescribed further with reference to FIG. 5.

The one or more sensor devices 118, also referred to as a “sensorpackage,” are coupled to a rotational device 104 and include one or moresensors 160 and a data processor 162. The one or more sensors 160 areconfigured to generate the vibration data 164. The data processor 162 isconfigured to output data in the frequency domain (“frequency domaindata”) 124 based on the vibration data 164. In an illustrative example,the data processor 162 is configured to apply a transform (e.g., a fastFourier transform) to the time-series vibration data 164 and generatethe frequency domain data 124 indicating power distribution acrossmultiple frequency bands of the vibration data.

The receiver 122 is configured to receive the frequency domain data 124from the one or more sensor devices 118. In an example, the receiver 122includes a bus interface, a wireline network interface, a wirelessnetwork interface, or one or more other interfaces or circuitsconfigured to receive the frequency domain data 124 via wirelesstransmission, via wireline transmission, or any combination thereof.

During operation, the sensor device 118 measures the vibration data 164,such as a time series of motion measurements from the one or moresensors 160, corresponding to normal operation of the rotational device104. For each sensing period (e.g., each frame or time segment of thevibration data 164, such as a 1 second time segment), the data processor162 generates a corresponding value of the frequency-domain featuresdata, and a time series of the frequency-domain feature data is provided(e.g., streamed) to the alert detection device 110 as the frequencydomain data 124.

The alert detection device 110 may be calibrated to performnormal/abnormal operation detection for the specific rotational device104 via execution of the calibration module 150. For example, executionof the calibration module 150 may be initiated via an input from theoperator 132, such as via the GUI 130 or via another input device (asdescribed further with reference to FIG. 4). During calibration, the oneor more processors 120 may retrieve an anomaly detection model from thememory 112 that is configured for use with the sensor device 118 butthat is not trained for the specific rotational device 104. Thefrequency domain data 124 is used as training data to train the anomalydetection model retrieved from the memory 112 to generate the trainedanomaly detection model 140. The trained anomaly detection model 140 isused in conjunction with the frequency domain data 124 to generateadditional calibration data, such as statistics regarding thedistribution of anomaly scores 142 during normal operation. Additionaldetails regarding model calibration are provided with reference to theexample of FIG. 3.

After calibration, the alert detection device 110 continues processingthe received frequency domain data 124 to detect changes in theoperation of the rotational device 104 and to generate the alert 146responsive to the alert generation model 144. Various statisticsassociated with the frequency domain data 124 may slowly shift over timeas the rotational device 104 ages, and in some implementations the alertdetection device 110 is configured to periodically or continually updatemodels or statistics corresponding to normal operation of the rotationaldevice 104 to accommodate such gradual changes in normal behavior.

Thus, the system 100 enables distribution of a machine-learning typemodel that can be automatically trained for an individual asset (e.g.,the specific rotational device 104) to distinguish between normal andabnormal operation and to generate an alert in response to detection ofabnormal operation. More generally, the system 100 enables detection ofdeviation from an operating state of the asset, such as detecting atransition from a first distinct operating state (e.g., the “normal”state to which the model is trained) to a second distinct operatingstate (e.g., the “abnormal” state). The second operating state, althoughdistinct from the first operating state, may also be a “normal”operating state that is not associated with a malfunction or fault ofthe asset. Multiple instances of the sensor devices 118 and the alertdetection device 110 can be deployed at low cost to process thefrequency domain data 124 for a large number of assets, such as viawireless transmissions from the sensor devices 118 to a central serverfacility or cloud-based computing service. As a result, machine-learningmonitoring of a large number of relatively inexpensive assets can bedeployed in a cost-effective manner.

In addition, using separate models for determining a risk score (e.g.,the anomaly score) and for determining whether to generate an alertallows for on-delays, off-delays, and dynamic alerting. For example,even though the anomaly score may have a value indicative of an alertzone, the alert model may decide not to raise an alert immediately. Toillustrate, if a sequence of anomaly scores exhibits a gradual departurefrom their distribution observed during the normal operation mode, theanomaly detection model may not immediately raise an alert untilreceiving additional anomaly scores. In contrast, if another sequence ofanomaly scores departs rapidly from the distribution observed during anormal operation mode the anomaly detection model may immediately raisean alert in response to that short sequence of anomaly scores.

Although FIG. 1 depicts the display device 128 as coupled to the alertdetection device 110, in other implementations the display device 128 isintegrated within the alert detection device 110. Although the displaydevice 128 is illustrated as providing the alert indication 148 via theGUI 130 at the display device 128, in other implementations the alertindication 148 may alternatively, or additionally, be provided via oneor more other mechanisms, such as an output interface that includes atleast one of a light, a buzzer, or a signal port, as described furtherwith reference to FIG. 4. In some implementations, functionalitycorresponding to the sensor device 118 and the alert detection device110 are integrated into a single device, such as within a commonhousing, as described in further detail with reference to FIG. 4.

FIG. 2 depicts a block diagram 200 of a particular implementation ofcomponents that may be included in the alert detection device 110 ofFIG. 1. As illustrated, the trained anomaly detection model 140 includesan autoencoder 202, a residual generator 204, and a Hotelling teststatistics module 206 (also referred to as “Hotelling module” 206).

The autoencoder 202 is configured to generate a reconstruction 230(denoted as z′) of the frequency domain data 124 (denoted as z). In anillustrative example, the autoencoder 202 is an unsupervised neuralnetwork that includes an encoder portion to compress an input to alatent space (e.g., a layer that contains a compressed representation ofthe input), and a decoder portion to reconstruct the input from thebottleneck to generate the reconstruction 230. The autoencoder 202 canbe trained via backpropagation to reduce or minimize a reconstructionerror between the frequency domain data 124 and the resultingreconstructions 230 of the training data.

The residual generator 204 is configured to generate a residual 232(denoted as r) based on a difference between the reconstruction 230 andthe input data 124. To illustrate, the residual can be determinedaccording to r=z′−z. In implementations in which\ the input data 124 andthe reconstruction 230 are multivariable (e.g., a set of multiplevalues, with each value representing a power level for a correspondingfrequency band), the residual 232 is also multivariable.

The Hotelling test statistics module 206 is configured to generate theanomaly score 142 based on the residual 232 and a reference residualdata 236. For example, the Hotelling test statistics module 206 mayimplement a Hotelling T² (or “T-squared”) test statistics that computesan anomaly score 142:

${t^{2} = {{\frac{n_{x}n_{y}}{n_{x} + n_{y}}\left( {\overset{\_}{x} - \overset{\_}{y}} \right)^{\prime}{{\hat{\Sigma}}^{- 1}\left( {\overset{\_}{x} - \overset{\_}{y}} \right)}} \sim {T^{2}\left( {p,{n_{x} + n_{y} - 2}} \right)}}},$

where x and y are the sample means of samples drawn from twomultivariate distributions (e.g., normal/reference residuals andnew/test residuals) given as

${\overset{\_}{x} = {{\frac{1}{n_{x}}{\sum_{i = 1}^{n_{x}}{x_{i}\mspace{14mu}{and}\mspace{14mu}\overset{\_}{y}}}} = {\frac{1}{n_{y}}{\sum_{i = 1}^{n_{y}}y_{i}}}}},$

with respective sample covariance matrices of

${\overset{\hat{}}{\Sigma}}_{x} = {\frac{1}{n_{x} - 1}{\sum_{i = 1}^{n_{x}}{\left( {x_{i} - \overset{\_}{x}} \right)\left( {x_{i} - \overset{\_}{x}} \right)^{\prime}\mspace{14mu}{and}}}}$${{\overset{\hat{}}{\Sigma}}_{y} = {\frac{1}{n_{y} - 1}{\sum_{i = 1}^{n_{y}}{\left( {y_{i} - \overset{\_}{y}} \right)\left( {y_{i} - \overset{\_}{y}} \right)^{\prime}}}}},$

(where an apostrophe (′) denotes transpose), where

$\hat{\Sigma} = \frac{{\left( {n_{x} - 1} \right){\hat{\Sigma}}_{x}} + {\left( {n_{y} - 1} \right){\hat{\Sigma}}_{y}}}{\left( {n_{x} + n_{y} - 2} \right)}$

is the unbiased pooled covariance matrix estimate, and where T² (p, m)is Hotelling's T-squared distribution with dimensionality parameter pand m degrees of freedom. Larger T² values indicate greater deviationfrom the expected values and therefore greater likelihood that there isa statistical difference between the residual data 234 and the normaloperation indicated in the reference residual data 236.

The alert generation model 144 includes a sequential probability ratiotest (SPRT) 208 configured to selectively generate the alert 146 basedon statistical data 240 corresponding to a set of anomaly scores 238(e.g., a sequence or stream of anomaly scores 142) that includes theanomaly score 142 and further based on reference anomaly scores 242. Forexample, the SPRT 208 is a sequential hypothesis test that providescontinuous validations or refutations of the hypothesis that therotational device 104 behaves abnormally, by determining whether theanomaly score 142 (e.g., the T² score) continues to follow, or no longerfollows, the normal behavior statistics of the reference anomaly scores242. In some implementations, the reference anomaly scores 242 includedata indicative of a distribution of reference anomaly scores (e.g.,mean and variance) instead of, or in addition to, the actual values ofthe reference anomaly scores. The SPRT 208 provides an early detectionmechanism and supports tolerance specifications for false positives andfalse negatives.

FIG. 3 depicts a series of stages 300-308 of calibration and operationof the components depicted in FIG. 2. In a first stage 300, the sensordevice 118 initiates output of a stream of the frequency domain data 124that is partitioned into a first time series 310 of frequency domaindata followed by a second time series 318 of the frequency domain data.The first time series 310 represents normal operation of the asset(e.g., the rotational pump 106) and is used as training data to performcalibration of one or more machine-learning models and to generatereference residual data and anomaly score data, and the second timeseries 318 is used to monitor operation of the asset using thecalibrated models.

In a second stage 302, an untrained autoencoder 322 is trained using afirst portion 312 of the first time series 310 which is indicative ofnormal operation of the rotational device 104. For example, residualscalculated by the residual generator 204 can be used to generatefeedback 320, and the untrained autoencoder 322 can be adjusted (e.g.,via backpropagation) to reduce an amount of error in generating areconstruction of the input data (e.g., to minimize an L2 normassociated with the residual values). To illustrate, the autoencoder 202may be trained until an average residual magnitude over the trainingdata is less than a threshold amount. As an illustrative, non-limitingexample, the first portion 312 that is used for training the autoencodercan correspond to 50,000 samples.

In a third stage 304, reference residual data 236 is stored based onoutputs of the trained autoencoder 202 responsive to the first portion312 of the first time series 310. For example, the reference residualdata 236 can include storage of residual values calculated based onprocessing the first portion 312 during the training of the autoencoder202. As an alternative to storing the residual values, or in addition,the reference residual data 236 can include statistical data (e.g., meanand covariance matrix) associated with the residual values correspondingto the first portion 312.

In a fourth stage 306, reference anomaly scores 242 are generated basedon the reference residual data 236 and residual scores associated with asecond portion 314 of the first time series 310. As an illustrative,non-limiting example, a first 100 samples of the second portion 314 maybe processed by the autoencoder 202 and used to generate 100 residuals.These 100 residuals (e.g., statistical data associated with theseresiduals) are compared to the reference residual data 236 by theHotelling test statistics module 206 to generate a first referenceanomaly score. Each successive 100 samples of the second portion 314 maybe processed to generate another reference anomaly score, until asufficiently large number of anomaly scores have been generated (e.g.,5,000 T² scores, as a non-limiting example). The resulting referenceanomaly scores 242 (e.g., the actual scores, the mean and variance ofthe scores, or both) are stored for use by the SPRT 208.

In a fifth stage 308, monitoring of the rotational device 104 isperformed using the second time series 318. The Hotelling teststatistics module 206 uses the reference residual data 236 to generatethe anomaly scores 238 by comparing distributions of residuals receivedfrom the residual generator 204 to the reference residual data 236. TheSPRT 208 uses the reference anomaly scores 242 (e.g., the knowndistribution of T² scores from training) and the statistical data 240corresponding to the anomaly scores 238 to determine whether to issue analert based on the likelihood that the statistical data 240 represents ashift from the reference anomaly scores 242.

FIG. 4 depicts a particular example of a self-training sensor device 410that includes a sensor 460, an input interface 462, a memory 412including model generation instructions 450, one or more processors 420coupled to the memory 412, and an output interface 468. In a particularimplementation, the self-training sensor device 410 corresponds to acombination of the alert detection device 110 and the sensor device 118in which the sensor 460, the one or more processors 420, and the memory112 are integrated within a single device or housing.

The sensor 460 is configured to generate sensor data associated withoperation of a device. In an illustrative example, the device includes adevice with rotational dynamics, such as the rotational pump 106 of FIG.1, and the sensor 460 includes at least one of a vibration sensor, amotion sensor, or an accelerometer.

The input interface 462 is configured to receive input 402 (e.g., userinput) to select between a training mode 464 of operation and adetection mode 466 of operation. In some implementations, the inputinterface 462 includes at least one of a button, a switch, a receiver,or a touchscreen.

While operating in the training mode 464 of operation, the one or moreprocessors 420 are configured to receive first sensor data 404 from thesensor 460 and execute the model generation instructions 450 based onthe first sensor data 404 to generate a trained anomaly detection model440 and an alert detection model 444. Before the anomaly detection model440 is trained, the self-training sensor device 410 is agnostic of thedevice that the self-training sensor device 410 is coupled to (e.g., therotational device 104). For example, in some implementations the memory412 includes a data structure representing an autoencoder, such as theuntrained autoencoder 322 of FIG. 2, and generating the trained anomalydetection model 440 includes training the autoencoder.

In a particular illustrative example, the one or more processors 420 areconfigured to execute the model generation instructions 450 to performoperations analogous to the operations described in FIG. 3. For example,the model generation instructions 450 may be executed to train theautoencoder based on at least a first portion of the first sensor data404 (e.g., the first portion 312 of FIG. 3 used to train the autoencoder202) and to generate reference residual data for the training data, togenerate reference anomaly scores output by a Hotelling test statisticsmodule based on the reference residual data and residual scoresassociated with a second portion of the first sensor data (e.g., thesecond portion 314 of FIG. 3), and to generate reference statisticaldata associated with the reference anomaly scores for use by asequential probability ratio test (e.g., the reference anomaly scores242).

While operating in the detection mode 466 of operation, the one or moreprocessors 420 are configured to receive second sensor data 406 from thesensor 460. As the second sensor data 406 is received from the sensor460, the one or more processors 420 use the trained anomaly detectionmodel 440 to generate an anomaly score 442 and process the anomaly score442 using the alert detection model 444 to determine whether to generatean alert 446. For example, the trained anomaly detection model 440 maycorrespond to the anomaly detection model 140 of FIG. 1 or FIG. 2, andthe alert detection model 444 may correspond to the alert generationmodel 144 of FIG. 1 or FIG. 2.

The output interface 468 is configured to output an alert indication 448responsive to the one or more processors 420 generating the alert 446.The output interface 468 includes at least one of a light, a buzzer, asignal port, a display device, or a transmitter configured to send amessage including the alert indication via a network, as illustrative,non-limiting examples. In a particular implementation, the outputinterface 468 includes a transmitter configured to send the alertindication to another device to cause an alert to be output at the otherdevice, to send the alert indication to a device (e.g., a computer) thataggregates alert indications from multiple sensor devices, or both, asillustrative, non-limiting examples.

During operation, a user may attach the self-training sensor device 410to an industrial device with rotational dynamics exhibiting normaloperation, and the user may provide the input 402 indicating thetraining mode 464 (e.g., by pressing a “training” button of the inputinterface 462). The sensor 460 begins providing the first sensor data404 representing normal operation, and the self-training sensor device410 executes the model generation instructions 450 to configure thetrained anomaly detection model 440 and the alert detection model 444for specific use with the rotational device based on the first sensordata 404. After configuring the trained anomaly detection model 440 andthe alert detection model 444 for specific use with the attached device,the output interface 468 may present an indicator, such as a greenlight, to indicate that the self-training sensor device is ready formonitoring operation of the attached device.

The user may next provide input 402 indicating the detection mode 466(e.g., by pressing a “detection” button of the input interface 462). Thesensor 460 begins providing the second sensor data 406, which isprocessed as described with respect to the trained anomaly detectionmodel 440 and the alert detection model 444 to determine whether togenerate the alert 446. If the alert 446 is generated, such as due todetect increased amounts of power in various frequency bands of thesecond sensor data 406, the alert indication 448 can be output to alerta technician, or subject matter expert, that the attached device isexhibiting abnormal behavior.

FIG. 5 depicts an example of a graphical user interface 500, such as thegraphical user interface 130 of FIG. 1 or a graphical user interfacethat may be displayed at a display screen of the output interface 468 ofFIG. 4, as non-limiting examples. The graphical user interface 500includes a chart 502 that illustrates values of an anomaly metric (e.g.,the anomaly score 142) over a time period. As illustrated, the chart 502also includes a first alert indication 510 and a second alert indication512, indicating time periods during which the anomaly metric deviatedsufficiently from “normal” behavior of the anomaly metric to generate analert.

The graphical user interface 550 also includes an indication 504 of oneor more sets of frequency domain data associated with the alertindication 510 and the alert indication 512. For example, a firstindicator 520 extends horizontally under the chart 502 and has differentvisual characteristics (depicted as white, grey, or black) indicatingthe relative contributions of a first frequency band (of received sensordata) in determining to generate the first alert indication 510 and thesecond alert indication 512. Similarly, a second indicator 521 indicatesthe relative contributions of a second frequency band in determining togenerate the first alert indication 510 and the second alert indication512. Indicators 522-530 indicate the relative contributions of third,fourth, fifth, sixth, seventh, eighth, ninth, and tenth frequency bands,respectively, in determining to generate the first alert indication 510and the second alert indication 512. Although ten indicators 521-530 forten frequency bands are illustrated, in other implementations fewer thanten frequency bands or more than ten frequency bands may be used.

For example, the first alert indication 510 shows that the sixthfrequency band had a high contribution at a beginning of the first alertindication 510, followed by high contributions of the first frequencyband and the third frequency band, and a medium contribution of thefourth frequency band. Providing relative contributions of eachfrequency band to an alert determination can assist a subject matterexpert to diagnose an underlying cause of abnormal behavior, todetermine a remedial action to perform responsive to the alertdetermination, or both.

FIG. 6 depicts a flowchart of a method 600 of detecting abnormaloperation of a rotational device, such as the rotational device 104. Toillustrate, the method 600 may be performed by the alert detectiondevice 110 of FIG. 1 or the self-training sensor device 410, asnon-limiting examples.

The method 600 includes, at 602, receiving, from one or more sensordevices coupled to the rotational device, frequency domain dataindicative of vibration data sensed during a sensing period. Forexample, in some implementations, the rotational device includes arotational pump, such as the rotational pump 106, and the one or moresensor devices (e.g., the one or more sensor devices 118 of FIG. 1 orthe sensor 460 of FIG. 4) measure at least one of a motion or anacceleration associated with vibration at the rotational pump.

The method 600 includes, at 604, processing the frequency domain datausing a trained anomaly detection model to generate an anomaly score forthe sensing period. To illustrate, in a particular implementation,processing the frequency domain data using the trained anomaly detectionmodel includes inputting the frequency domain data to an autoencoder(e.g., the autoencoder 202), at 610, generating a residual (e.g., theresidual 232) based on an output of the autoencoder, at 612, and theanomaly score (e.g., the anomaly score 142) is generated based on theresidual. For example, the anomaly score can be generated using aHotelling test statistics module (e.g., the Hotelling test statisticsmodule 206) based on the residual and reference residual data, at 614.To illustrate, the residual may be input to the Hotelling teststatistics module, and the anomaly score may be generated at theHotelling test statistics module using a multivariate test statisticthat is based on the new residual data and the reference residual data(e.g., the reference residual data 236).

The method 600 includes, at 606, processing the anomaly score using analert generation model to determine whether to generate an alert. Toillustrate, in a particular implementation, processing the anomaly scoreusing the alert generation model includes performing a sequentialprobability ratio test (e.g., the SPRT 208) based on the Hotelling T²anomaly score, at 620. In a particular example, the alert generationmodel includes a sequential probability ratio test that determineswhether statistical data (e.g., the statistical data 240), correspondingto a set of one or more anomaly scores that includes the anomaly score,indicates deviation from a reference statistical data (e.g., thereference anomaly scores 242) corresponding to anomaly scores that areindicative of normal operation of the rotational device.

In some implementations, the method 600 also includes generating agraphical user interface to display at a display device. The graphicaluser interface may include a graph indicative of a performance metric ofthe rotational device over time, an alert indication corresponding to aportion of the graph, and an indication of one or more sets of frequencydomain data associated with the alert indication, such as depicted inthe graphical user interface 500 of FIG. 5.

In some implementations, the method 600 also includes performingcalibration or initialization of the anomaly detection model and thealert generation model, as described further with reference to FIG. 7.For example, the method illustrated in FIG. 7 can be used to initialize(e.g., train and generate reference values for) the anomaly detectionmodel and the alert generation model for a particular asset, and themethod 600 of FIG. 6 can be performed during monitoring of theparticular asset after the initialization is complete.

Thus, the method 600 enables distribution of a machine-learning typemodel that can be automatically trained for an individual asset (e.g.,the specific rotational device 104) to distinguish between normal andabnormal operation and to generate an alert in response to detection ofabnormal operation. As a result, machine-learning monitoring of a largenumber of relatively inexpensive assets can be deployed in acost-effective manner.

In addition, using separate models for determining a risk score (e.g.,the anomaly score) and for determining whether to generate an alertallows for on-delays, off-delays, and dynamic alerting. For example,even though the anomaly score may have a value indicative of an alertzone, the alert model may decide not to raise an alert immediately.

FIG. 7 depicts an example of a method 700 of calibrating or initializingthe trained anomaly detection model and the alert generation model ofFIG. 6. For example, the method 700 may be performed prior to block 602of FIG. 6 to initialize (e.g., train and generate reference values for)the anomaly detection model and the alert generation model for aparticular asset, and the method 600 of FIG. 6 can be performed duringmonitoring of the particular asset after the initialization is complete.

The method 700 includes, at 702, receiving a first time series offrequency domain data indicative of normal operation of the rotationaldevice from the one or more sensor devices and, at 704, training theautoencoder based on a first portion of the first time series. Forexample, the first time series may correspond to the first time series310 in the first stage 300 of FIG. 3, and the autoencoder may be trainedas described with reference to the second stage 302 of FIG. 3.

The method 700 includes, at 706, generating the reference residual databased on outputs of the trained autoencoder (e.g., in the third stage304 of FIG. 3), generating reference anomaly scores with the Hotellingtest statistics module based on the reference residual data and residualscores associated with a second portion of the first time series (e.g.,in the fourth stage 306 of FIG. 3), at 708, for use by the sequentialprobability ratio test.

FIG. 8 depicts an example of a method 800 of operating a self-trainingsensor apparatus, such as the self-training sensor device 410 of FIG. 4.The method 800 includes, at 802, receiving, at an input interface of theself-training sensor apparatus, a first input to select a training modeof operation. The first input is received via at least one of a button,a switch, a receiver, or a touchscreen, as illustrative, non-limitingexamples.

The method 800 includes, in response to receiving the first input,receiving, from a sensor of the self-training sensor apparatus, firstsensor data (e.g., the first sensor data 404) associated with operationof a device, at 804, and executing, at one or more processors of theself-training sensor apparatus, model generation instructions (e.g., themodel generation instructions 450) based on the first sensor data togenerate a trained anomaly detection model and an alert detection model,at 806. In an illustrative example, before the trained anomaly detectionmodel and the alert detection model are generated, the self-trainingsensor apparatus is agnostic regarding the device. In someimplementations, the first sensor data includes vibration data, and thedevice is a rotary device, such as the rotational pump 106 of FIG. 1.

An example of executing the model generation instructions includestraining an autoencoder based on at least a first portion of the firstsensor data, generating reference residual data based on outputs of theautoencoder, and generating reference anomaly scores output by aHotelling test statistics module based on the reference residual dataand residual scores associated with at least a second portion of thefirst sensor data, for use by a sequential probability ratio test, in asimilar manner as described with respect to the stages 302-306 of FIG.3.

In some implementations, the method 800 also includes, after generatingthe trained anomaly detection model and the alert detection model,receiving, at the input interface, a second input to select a detectionmode of operation, at 808. In response to receiving the second input,the method 800 includes receiving second sensor data (e.g., the secondsensor data 406) from the sensor, at 810, using the trained anomalydetection model to generate an anomaly score, at 812, and processing theanomaly score using the alert detection model to determine whether togenerate an alert, at 814.

In some implementations, the method 800 also includes, in response to adetermination to generate the alert, outputting an alert indication atan output interface (e.g., the alert indication 448 at the outputinterface 468) of the self-training sensor apparatus. For example,outputting the alert indication may include at least one of activating alight, generating an audible signal, generating the alert indication ata signal port, or displaying the alert indication at a display device.

The systems and methods illustrated herein may be described in terms offunctional block components, screen shots, optional selections andvarious processing steps. It should be appreciated that such functionalblocks may be realized by any number of hardware and/or softwarecomponents configured to perform the specified functions. For example,the system may employ various integrated circuit components, e.g.,memory elements, processing elements, logic elements, look-up tables,and the like, which may carry out a variety of functions under thecontrol of one or more microprocessors or other control devices.Similarly, the software elements of the system may be implemented withany programming or scripting language such as C, C++, C#, Java,JavaScript, VBScript, Macromedia Cold Fusion, COBOL, Microsoft ActiveServer Pages, assembly, PERL, PHP, AWK, Python, Visual Basic, SQL StoredProcedures, PL/SQL, any UNIX shell script, and extensible markuplanguage (XML) with the various algorithms being implemented with anycombination of data structures, objects, processes, routines or otherprogramming elements. Further, it should be noted that the system mayemploy any number of techniques for data transmission, signaling, dataprocessing, network control, and the like.

The systems and methods of the present disclosure may be embodied as acustomization of an existing system, an add-on product, a processingapparatus executing upgraded software, a standalone system, adistributed system, a method, a data processing system, a device fordata processing, and/or a computer program product. Accordingly, anyportion of the system or a module or a decision model may take the formof a processing apparatus executing code, an internet based (e.g., cloudcomputing) embodiment, an entirely hardware embodiment, or an embodimentcombining aspects of the internet, software and hardware. Furthermore,the system may take the form of a computer program product on acomputer-readable storage medium or device having computer-readableprogram code (e.g., instructions) embodied or stored in the storagemedium or device. Any suitable computer-readable storage medium ordevice may be utilized, including hard disks, CD-ROM, optical storagedevices, magnetic storage devices, and/or other storage media. As usedherein, a “computer-readable storage medium” or “computer-readablestorage device” is not a signal.

Systems and methods may be described herein with reference to screenshots, block diagrams and flowchart illustrations of methods,apparatuses (e.g., systems), and computer media according to variousaspects. It will be understood that each functional block of a blockdiagrams and flowchart illustration, and combinations of functionalblocks in block diagrams and flowchart illustrations, respectively, canbe implemented by computer program instructions.

Computer program instructions may be loaded onto a computer or otherprogrammable data processing apparatus to produce a machine, such thatthe instructions that execute on the computer or other programmable dataprocessing apparatus create means for implementing the functionsspecified in the flowchart block or blocks. These computer programinstructions may also be stored in a computer-readable memory or devicethat can direct a computer or other programmable data processingapparatus to function in a particular manner, such that the instructionsstored in the computer-readable memory produce an article of manufactureincluding instruction means which implement the function specified inthe flowchart block or blocks. The computer program instructions mayalso be loaded onto a computer or other programmable data processingapparatus to cause a series of operational steps to be performed on thecomputer or other programmable apparatus to produce acomputer-implemented process such that the instructions which execute onthe computer or other programmable apparatus provide steps forimplementing the functions specified in the flowchart block or blocks.

Accordingly, functional blocks of the block diagrams and flowchartillustrations support combinations of means for performing the specifiedfunctions, combinations of steps for performing the specified functions,and program instruction means for performing the specified functions. Itwill also be understood that each functional block of the block diagramsand flowchart illustrations, and combinations of functional blocks inthe block diagrams and flowchart illustrations, can be implemented byeither special purpose hardware-based computer systems which perform thespecified functions or steps, or suitable combinations of specialpurpose hardware and computer instructions.

In conjunction with the described devices and techniques, an apparatusfor detecting deviation from an operational state of a rotational deviceincludes means for receiving, from one or more sensor devices coupled tothe rotational device, frequency domain data indicative of vibrationdata sensed during a sensing period. For example, the means forreceiving can correspond to the receiver 122, one or more other circuitsor devices to receive frequency domain data from one or more sensordevices, or any combination thereof.

The apparatus includes means for generating an anomaly score for thesensing period based on the frequency domain data. For example, themeans for generating the anomaly score can correspond to the anomalydetection model 104. In some implementations, the one or more processors120 execute the anomaly detection model 104 to: sequentially input eachsequential value of a portion of the frequency domain into anautoencoder to generate a sequence of reconstructed values; generateresidual data by computing a difference between each of thereconstructed values and the corresponding input value (e.g., bysubtraction); and performing a Hotelling T² test, using the residualdata as samples of a first distribution and reference residual datacorresponding to a second distribution. The resulting Hotelling T²statistic may be used as the anomaly score or may be used as a basis tocompute the anomaly score (e.g., scaled, normalized, quantized, etc.).

The apparatus also includes means for determining, based on the anomalyscore, whether to generate an alert. For example, the means fordetermining whether to generate an alert can correspond to the alertgeneration model 144. In some implementations, the one or moreprocessors 120 execute the alert generation model 144 to generatestatistical data (e.g., mean and variance) from a set of sequentiallygenerated anomaly scores, and to perform a sequential probability ratiotest to determine whether the statistical data continues to follow, orno longer follows, a behavior statistic of reference anomaly scores.

In some implementations, the means for generating the anomaly scoreincludes means for generating a reconstruction of the frequency domaindata and means for generating a residual based on a difference betweeninput frequency domain data and the reconstruction of the inputfrequency domain data. For example, the means for generating thereconstruction of the frequency domain data can include the autoencoder202. In some implementations, the one or more processors 120 execute theautoencoder 202 to receive input data, process the input data via one ormore layers of a neural network to generate a dimensionally reducedrepresentation of the data at a latent space layer, and process thedimensionally reduced representation via one or more layers to output areconstruction of the input data. The means for generating the residualcan include the residual generator 204. In some implementations, the oneor more processors 120 execute the residual generator 204 to receive asequence of the reconstructed values and to generate residual data bycomputing a difference between each of the reconstructed values and thecorresponding input value (e.g., by subtraction).

In some implementations, the means for determining whether to generatethe alert includes means for performing a sequential probability ratiotest. In some implementations, the one or more processors 120 executethe SPRT 208 to perform a sequential probability ratio test to determinewhether the statistical data 240 of the set of anomaly scores 238continues to follow, or no longer follows, the normal behaviorstatistics of the reference anomaly scores 242.

Particular aspects of the disclosure are described below in thefollowing clauses:

According to a clause 1, a method of detecting deviation from anoperational state of a rotational device includes receiving, from one ormore sensor devices coupled to the rotational device, frequency domaindata indicative of vibration data sensed during a sensing period,processing the frequency domain data using a trained anomaly detectionmodel to generate an anomaly score for the sensing period, andprocessing the anomaly score using an alert generation model todetermine whether to generate an alert.

Clause 2 includes the method of clause 1, wherein the rotational deviceincludes a rotational pump, and wherein the one or more sensor devicesmeasure at least one of a motion or an acceleration associated withvibration at the rotational pump.

Clause 3 includes the method of clause 1, wherein processing thefrequency domain data using the trained anomaly detection model includesinputting the frequency domain data to an autoencoder, generating aresidual based on an output of the autoencoder, and generating theanomaly score using a Hotelling test statistics module based on theresidual and reference residual data, and processing the anomaly scoreusing the alert generation model includes performing a sequentialprobability ratio test based on the anomaly score.

Clause 4 includes the method of clause 3, further including, prior toreceiving the frequency domain data. receiving a first time series offrequency domain data indicative of normal operation of the rotationaldevice from the one or more sensor devices, and training the autoencoderbased on the first time series.

Clause 5 includes the method of clause 1, further including, prior toreceiving the frequency domain data: receiving a first time series offrequency domain data indicative of normal operation of the rotationaldevice from the one or more sensor devices; training an autoencoder ofthe anomaly detection model based on a first portion of the first timeseries; generating reference residual data based on outputs of thetrained autoencoder; and generating reference anomaly scores at aHotelling test statistics module based on the reference residual dataand residual scores associated with a second portion of the first timeseries for use by a sequential probability ratio test of the alertgeneration model.

Clause 6 includes the method of clause 1, wherein processing thefrequency domain data at the trained anomaly detection model includesinputting the frequency domain data to an autoencoder and generating aresidual based on an output of the autoencoder, wherein the anomalyscore is generated based on the residual.

Clause 7 includes the method of clause 6, wherein processing thefrequency domain data at the trained anomaly detection model furtherincludes inputting the residual to a Hotelling test statistics moduleand generating the anomaly score.

Clause 8 includes the method of clause 6, wherein the alert generationmodel includes a sequential probability ratio test that determineswhether a set of one or more anomaly scores indicates deviation fromnormal operation of the rotational device.

Clause 9 includes the method of clause 1, further including generating agraphical user interface including a graph indicative of a performancemetric of the rotational device over time, an alert indicationcorresponding to a portion of the graph, and an indication of one ormore sets of frequency domain data associated with the alert indication.

According to a clause 10, a system to detect deviation from anoperational state of a vibrating device includes a memory including atrained anomaly detection model and an alert generation model and one ormore processors coupled to the memory, the one or more processorsconfigured to process, using the trained anomaly detection model,frequency domain data indicative of vibration data sensed during asensing period, the trained anomaly detection model configured togenerate an anomaly score for the sensing period and process the anomalyscore using an alert generation model to determine whether to generatean alert.

Clause 11 includes the system of clause 10, further comprising one ormore sensor devices, the one or more sensor devices including one ormore sensors configured to generate the vibration data and a dataprocessor configured to output the frequency domain data based on thevibration data.

Clause 12 includes the system of clause 10, wherein the trained anomalydetection model includes an autoencoder configured to generate areconstruction of the frequency domain data, a residual generatorconfigured to generate a residual based on a difference between thereconstruction and the frequency domain data, and a Hotelling teststatistics module configured to generate the anomaly score based on theresidual and reference residual data.

Clause 13 includes the system of clause 12, wherein the alert generationmodel includes a sequential probability ratio test configured todetermine whether a set of anomaly scores indicates deviation fromnormal operation of the vibrating device.

Clause 14 includes the system of clause 13, wherein the vibrating deviceincludes a rotational device, and wherein the memory further includes acalibration module that is executable by the one or more processors totrain the autoencoder based on a first portion of a first time series offrequency data indicative of normal operation of the rotational device,generate the reference residual data based on outputs of the trainedautoencoder, and generate reference anomaly scores based on thereference residual data and residual scores associated with a secondportion of the first time series for use by the sequential probabilityratio test.

Clause 15 includes the system of clause 10, wherein the memory furtherincludes a graphical user interface module that is executable by the oneor more processors to generate a graphical user interface to display analert indication.

Clause 16 includes the system of clause 15, further comprising a displaydevice coupled to the one or more processors and configured to displaythe graphical user interface, wherein the graphical user interfaceincludes the alert indication and an indication of one or more sets offrequency domain data associated with the alert indication.

Clause 17 includes the system of clause 10, further comprising areceiver configured to receive the frequency domain data from one ormore sensor devices that are configured to detect vibrations of arotational device.

A clause 18 includes computer-readable storage device storinginstructions that, when executed by one or more processors, cause theone or more processors to receive, from one or more sensor devicescoupled to a rotational device, frequency domain data indicative ofvibration data sensed during a sensing period, process the frequencydomain data using a trained anomaly detection model to generate ananomaly score for the sensing period, and process the anomaly scoreusing an alert generation model to determine whether to generate analert.

Clause 19 includes the computer-readable storage device of clause 18,wherein the instructions are executable to further cause the one or moreprocessors to process the frequency domain data using the trainedanomaly detection model by inputting the frequency domain data to anautoencoder, generating a residual based on an output of theautoencoder, and generating the anomaly score using a Hotelling teststatistics module based on the residual and reference residual data, andprocess the anomaly score using the alert generation model by performinga sequential probability ratio test based on the anomaly score.

According to a clause 20, an apparatus for detecting deviation from anoperational state of a rotational device includes means for receiving,from one or more sensor devices coupled to the rotational device,frequency domain data indicative of vibration data sensed during asensing period, means for generating an anomaly score for the sensingperiod based on the frequency domain data, and means for determining,based on the anomaly score, whether to generate an alert.

Clause 21 includes the apparatus of clause 20, wherein the means forgenerating the anomaly score includes means for generating areconstruction of the frequency domain data and means for generating aresidual based on a difference between input frequency domain data andthe reconstruction of the input frequency domain data, and the means fordetermining whether to generate the alert includes means for performinga sequential probability ratio test.

According to a clause 22, a self-training sensor apparatus includes asensor to generate sensor data associated with operation of a device, aninput interface to receive input to select between a training mode ofoperation and a detection mode of operation, a memory including modelgeneration instructions, one or more processors coupled to the memory,the one or more processors configured to, while operating in thetraining mode of operation, receive first sensor data from the sensorand execute the model generation instructions based on the first sensordata to generate a trained anomaly detection model and an alertdetection model, and while operating in the detection mode of operation,receive second sensor data from the sensor, use the trained anomalydetection model to generate an anomaly score, and process the anomalyscore using the alert detection model to determine whether to generatean alert, and an output interface to output an alert indicationresponsive to the one or more processors generating the alert.

Clause 23 includes the self-training sensor apparatus of clause 22,wherein the sensor includes at least one of a vibration sensor, a motionsensor, or an accelerometer.

Clause 24 includes the self-training sensor apparatus of clause 22,wherein the input interface includes at least one of a button, a switch,a receiver, or a touchscreen.

Clause 25 includes the self-training sensor apparatus of clause 22,wherein the device includes a rotary device.

Clause 26 includes the self-training sensor apparatus of clause 22,wherein the sensor, the one or more processors, and the memory areintegrated within a single device or housing.

Clause 27 includes the self-training sensor apparatus of clause 22,wherein before the anomaly detection model is trained, the apparatus isagnostic regarding the device.

Clause 28 includes the self-training sensor apparatus of clause 22,wherein the memory includes a data structure representing anautoencoder, and wherein generating the trained anomaly detection modelincludes training the autoencoder.

Clause 29 includes the self-training sensor apparatus of clause 22,wherein the one or more processors are configured to execute the modelgeneration instructions to train an autoencoder based on at least afirst portion of the first sensor data, generate reference residual databased outputs of the trained autoencoder, and generate reference anomalyscores output by a Hotelling test statistics module based on thereference residual data and residual scores associated with at least asecond portion of the first sensor data for use by a sequentialprobability ratio test.

Clause 30 includes the self-training sensor apparatus of clause 22,wherein the output interface includes at least one of a light, a buzzer,a signal port, a display device, or a transmitter configured to send amessage including the alert indication via a network.

A clause 31 includes a method of operating a self-training sensorapparatus, the method comprising receiving, at an input interface of theself-training sensor apparatus, a first input to select a training modeof operation, and in response to receiving the first input, receiving,from a sensor of the self-training sensor apparatus, first sensor dataassociated with operation of a device, and executing, at one or moreprocessors of the self-training sensor apparatus, model generationinstructions based on the first sensor data to generate a trainedanomaly detection model and an alert detection model.

Clause 32 includes the method of clause 31, further comprising, aftergenerating the trained anomaly detection model and the alert detectionmodel, receiving, at the input interface, a second input to select adetection mode of operation, and in response to receiving the secondinput, receiving second sensor data from the sensor, using the trainedanomaly detection model to generate an anomaly score, and processing theanomaly score using the alert detection model to determine whether togenerate an alert.

Clause 33 includes the method of clause 32, further comprising, inresponse to a determination to generate the alert, outputting an alertindication at an output interface of the self-training sensor apparatus.

Clause 34 includes the method of clause 33, wherein outputting the alertindication includes at least one of activating a light, generating anaudible signal, generating the alert indication at a signal port, ordisplaying the alert indication at a display device.

Clause 35 includes the method of clause 31, wherein the first sensordata includes at least one of vibration data, motion data, oracceleration data.

Clause 36 includes the method of clause 31, wherein the first input isreceived via at least one of a button, a switch, a receiver, or atouchscreen.

Clause 37 includes the method of clause 31, wherein the device includesa rotary device.

Clause 38 includes the method of clause 31, wherein before the trainedanomaly detection model and the alert detection model are generated, theself-training sensor apparatus is agnostic of the device.

Clause 39 includes the method of clause 31, wherein executing the modelgeneration instructions includes training an autoencoder based on atleast a first portion of the first sensor data, generating referenceresidual data based on an output of the trained autoencoder, andgenerating reference anomaly scores output by a Hotelling teststatistics module based on the reference residual data and residualscores associated with at least a second portion of the first sensordata for use by a sequential probability ratio test.

Although the disclosure may include one or more methods, it iscontemplated that it may be embodied as computer program instructions ona tangible computer-readable medium, such as a magnetic or opticalmemory or a magnetic or optical disk/disc. All structural, chemical, andfunctional equivalents to the elements of the above-described exemplaryembodiments that are known to those of ordinary skill in the art areexpressly incorporated herein by reference and are intended to beencompassed by the present claims. To illustrate, although anomalyscores are described as generated based on Hotelling test statistics, inother implementations other techniques to generate anomaly scores basedon residuals may be used. As another example, although alert generationis described as using SPRT, in other implementations other techniques togenerate alerts based on anomaly scores may be used. Moreover, it is notnecessary for a device or method to address each and every problemsought to be solved by the present disclosure, for it to be encompassedby the present claims. Furthermore, no element, component, or methodstep in the present disclosure is intended to be dedicated to the publicregardless of whether the element, component, or method step isexplicitly recited in the claims. As used herein, the terms “comprises,”“comprising,” or any other variation thereof, are intended to cover anon-exclusive inclusion, such that a process, method, article, orapparatus that comprises a list of elements does not include only thoseelements but may include other elements not expressly listed or inherentto such process, method, article, or apparatus.

Changes and modifications may be made to the disclosed embodimentswithout departing from the scope of the present disclosure. These andother changes or modifications are intended to be included within thescope of the present disclosure, as expressed in the following claims.

What is claimed is:
 1. A method of detecting deviation from anoperational state of a rotational device, the method comprising:receiving, from one or more sensor devices coupled to the rotationaldevice, frequency domain data indicative of vibration data sensed duringa sensing period; processing the frequency domain data using a trainedanomaly detection model to generate an anomaly score for the sensingperiod; and processing the anomaly score using an alert generation modelto determine whether to generate an alert.
 2. The method of claim 1,wherein the rotational device includes a rotational pump, and whereinthe one or more sensor devices measure at least one of a motion or anacceleration associated with vibration at the rotational pump.
 3. Themethod of claim 1, wherein: processing the frequency domain data usingthe trained anomaly detection model includes: inputting the frequencydomain data to an autoencoder; generating a residual based on an outputof the autoencoder; and generating the anomaly score using a Hotellingtest statistics module based on the residual and reference residualdata; and processing the anomaly score using the alert generation modelincludes performing a sequential probability ratio test based on theanomaly score.
 4. The method of claim 3, further comprising, prior toreceiving the frequency domain data: receiving a first time series offrequency domain data indicative of normal operation of the rotationaldevice from the one or more sensor devices; and training the autoencoderbased on the first time series.
 5. The method of claim 1, furthercomprising, prior to receiving the frequency domain data: receiving afirst time series of frequency domain data indicative of normaloperation of the rotational device from the one or more sensor devices;training an autoencoder of the anomaly detection model based on a firstportion of the first time series; generating reference residual databased on outputs of the trained autoencoder; and generating referenceanomaly scores at a Hotelling test statistics module based on thereference residual data and residual scores associated with a secondportion of the first time series for use by a sequential probabilityratio test of the alert generation model.
 6. The method of claim 1,wherein processing the frequency domain data at the trained anomalydetection model includes: inputting the frequency domain data to anautoencoder; and generating a residual based on an output of theautoencoder, wherein the anomaly score is generated based on theresidual.
 7. The method of claim 6, wherein processing the frequencydomain data at the trained anomaly detection model further includes:inputting the residual to a Hotelling test statistics module; andgenerating the anomaly score at the Hotelling test statistics moduleusing a multivariate test statistic that is based on residual data andreference residual data.
 8. The method of claim 6, wherein the alertgeneration model includes a sequential probability ratio test thatdetermines whether a set of one or more anomaly scores indicatesdeviation from normal operation of the rotational device.
 9. The methodof claim 1, further comprising generating a graphical user interfaceincluding: a graph indicative of a performance metric of the rotationaldevice over time; an alert indication corresponding to a portion of thegraph; and an indication of one or more sets of frequency domain dataassociated with the alert indication.
 10. A system to detect deviationfrom an operational state of a vibrating device, the system comprising:a memory including a trained anomaly detection model and an alertgeneration model; and one or more processors coupled to the memory, theone or more processors configured to: process, using the trained anomalydetection model, frequency domain data indicative of vibration datasensed during a sensing period, the trained anomaly detection modelconfigured to generate an anomaly score for the sensing period; andprocess the anomaly score using an alert generation model to determinewhether to generate an alert.
 11. The system of claim 10, furthercomprising one or more sensor devices, the one or more sensor devicesincluding: one or more sensors configured to generate the vibrationdata; and a data processor configured to output the frequency domaindata based on the vibration data.
 12. The system of claim 10, whereinthe trained anomaly detection model includes: an autoencoder configuredto generate a reconstruction of the frequency domain data; a residualgenerator configured to generate a residual based on a differencebetween the reconstruction and the frequency domain data; and aHotelling test statistics module configured to generate the anomalyscore based on the residual and reference residual data.
 13. The systemof claim 12, wherein the alert generation model includes a sequentialprobability ratio test configured to determine whether a set of anomalyscores indicates deviation from normal operation of the vibratingdevice.
 14. The system of claim 13, wherein the vibrating deviceincludes a rotational device, and wherein the memory further includes acalibration module that is executable by the one or more processors to:train the autoencoder based on a first portion of a first time series offrequency data indicative of normal operation of the rotational device;generate the reference residual data based on outputs of the trainedautoencoder; and generate reference anomaly scores based on thereference residual data and residual scores associated with a secondportion of the first time series for use by the sequential probabilityratio test.
 15. The system of claim 10, wherein the memory furtherincludes a graphical user interface module that is executable by the oneor more processors to generate a graphical user interface to display analert indication.
 16. The system of claim 15, further comprising adisplay device coupled to the one or more processors and configured todisplay the graphical user interface, wherein the graphical userinterface includes: the alert indication; and an indication of one ormore sets of frequency domain data associated with the alert indication.17. The system of claim 10, further comprising a receiver configured toreceive the frequency domain data from one or more sensor devices thatare configured to detect vibrations of a rotational device.
 18. Acomputer-readable storage device storing instructions that, whenexecuted by one or more processors, cause the one or more processors to:receive, from one or more sensor devices coupled to a rotational device,frequency domain data indicative of vibration data sensed during asensing period; process the frequency domain data using a trainedanomaly detection model to generate an anomaly score for the sensingperiod; and process the anomaly score using an alert generation model todetermine whether to generate an alert.
 19. The computer-readablestorage device of claim 18, wherein the instructions are executable tofurther cause the one or more processors to: process the frequencydomain data using the trained anomaly detection model by: inputting thefrequency domain data to an autoencoder; generating a residual based onan output of the autoencoder; and generating the anomaly score using aHotelling test statistics module based on the residual and referenceresidual data; and process the anomaly score using the alert generationmodel by performing a sequential probability ratio test based on theanomaly score.
 20. An apparatus for detecting deviation from anoperational state of a rotational device, the apparatus comprising:means for receiving, from one or more sensor devices coupled to therotational device, frequency domain data indicative of vibration datasensed during a sensing period; means for generating an anomaly scorefor the sensing period based on the frequency domain data; and means fordetermining, based on the anomaly score, whether to generate an alert.21. The apparatus of claim 20, wherein: the means for generating theanomaly score includes: means for generating a reconstruction of thefrequency domain data; and means for generating a residual based on adifference between the frequency domain data and the reconstruction ofthe frequency domain data; and the means for determining whether togenerate the alert includes means for performing a sequentialprobability ratio test.
 22. A self-training sensor apparatus comprising:a sensor to generate sensor data associated with operation of a device;an input interface to receive input to select between a training mode ofoperation and a detection mode of operation; a memory including modelgeneration instructions; one or more processors coupled to the memory,the one or more processors configured to: while operating in thetraining mode of operation, receive first sensor data from the sensorand execute the model generation instructions based on the first sensordata to generate a trained anomaly detection model and an alertdetection model; and while operating in the detection mode of operation:receive second sensor data from the sensor; use the trained anomalydetection model to generate an anomaly score; and process the anomalyscore using the alert detection model to determine whether to generatean alert; and an output interface to output an alert indicationresponsive to the one or more processors generating the alert.
 23. Theself-training sensor apparatus of claim 22, wherein the sensor includesat least one of a vibration sensor, a motion sensor, or anaccelerometer.
 24. The self-training sensor apparatus of claim 22,wherein the input interface includes at least one of a button, a switch,a receiver, or a touchscreen.
 25. The self-training sensor apparatus ofclaim 22, wherein the device includes a rotary device.
 26. Theself-training sensor apparatus of claim 22, wherein the sensor, the oneor more processors, and the memory are integrated within a single deviceor housing.
 27. The self-training sensor apparatus of claim 22, whereinbefore the anomaly detection model is trained, the apparatus is agnosticregarding the device.
 28. The self-training sensor apparatus of claim22, wherein the memory includes a data structure representing anautoencoder, and wherein generating the trained anomaly detection modelincludes training the autoencoder.
 29. The self-training sensorapparatus of claim 22, wherein the one or more processors are configuredto execute the model generation instructions to: train an autoencoderbased on at least a first portion of the first sensor data; generatereference residual data based on outputs of the trained autoencoder; andgenerate reference anomaly scores output by a Hotelling test statisticsmodule based on the reference residual data and residual scoresassociated with at least a second portion of the first sensor data foruse by a sequential probability ratio test.
 30. The self-training sensorapparatus of claim 22, wherein the output interface includes at leastone of a light, a buzzer, a signal port, a display device, or atransmitter configured to send a message including the alert indicationvia a network.
 31. A method of operating a self-training sensorapparatus, the method comprising: receiving, at an input interface ofthe self-training sensor apparatus, a first input to select a trainingmode of operation; and in response to receiving the first input:receiving, from a sensor of the self-training sensor apparatus, firstsensor data associated with operation of a device; and executing, at oneor more processors of the self-training sensor apparatus, modelgeneration instructions based on the first sensor data to generate atrained anomaly detection model and an alert detection model.
 32. Themethod of claim 31, further comprising, after generating the trainedanomaly detection model and the alert detection model: receiving, at theinput interface, a second input to select a detection mode of operation;and in response to receiving the second input: receiving second sensordata from the sensor; using the trained anomaly detection model togenerate an anomaly score; and processing the anomaly score using thealert detection model to determine whether to generate an alert.
 33. Themethod of claim 32, further comprising, in response to a determinationto generate the alert, outputting an alert indication at an outputinterface of the self-training sensor apparatus.
 34. The method of claim33, wherein outputting the alert indication includes at least one ofactivating a light, generating an audible signal, generating the alertindication at a signal port, or displaying the alert indication at adisplay device.
 35. The method of claim 31, wherein the first sensordata includes at least one of vibration data, motion data, oracceleration data.
 36. The method of claim 31, wherein the first inputis received via at least one of a button, a switch, a receiver, or atouchscreen.
 37. The method of claim 31, wherein the device includes arotary device.
 38. The method of claim 31, wherein before the trainedanomaly detection model and the alert detection model are generated, theself-training sensor apparatus is agnostic of the device.
 39. The methodof claim 31, wherein executing the model generation instructionsincludes: training an autoencoder based on at least a first portion ofthe first sensor data; generating reference residual data based onoutputs of the trained autoencoder; and generating reference anomalyscores output by a Hotelling test statistics module based on thereference residual data and residual scores associated with at least asecond portion of the first sensor data for use by a sequentialprobability ratio test.